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   &#160;<span id="projectnumber">1.5.2</span>
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<a href="#define-members">Macros</a> &#124;
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<p>EtherCAT state change FSM.  
<a href="#details">More...</a></p>

<p><a href="fsm__change_8c_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
Macros</h2></td></tr>
<tr class="memitem:ac795cfc1b59ef531b45e8d14ecab9841"><td class="memItemLeft" align="right" valign="top"><a id="ac795cfc1b59ef531b45e8d14ecab9841"></a>
#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#ac795cfc1b59ef531b45e8d14ecab9841">EC_AL_STATE_CHANGE_TIMEOUT</a>&#160;&#160;&#160;5</td></tr>
<tr class="memdesc:ac795cfc1b59ef531b45e8d14ecab9841"><td class="mdescLeft">&#160;</td><td class="mdescRight">Timeout while waiting for AL state change [s]. <br /></td></tr>
<tr class="separator:ac795cfc1b59ef531b45e8d14ecab9841"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Functions</h2></td></tr>
<tr class="memitem:a1ff34d96ae20d01c0ceff028a86ba0d2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a1ff34d96ae20d01c0ceff028a86ba0d2">ec_fsm_change_state_start</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:a1ff34d96ae20d01c0ceff028a86ba0d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change state: START.  <a href="#a1ff34d96ae20d01c0ceff028a86ba0d2">More...</a><br /></td></tr>
<tr class="separator:a1ff34d96ae20d01c0ceff028a86ba0d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f4192e2dc04a2bdbe005c3813def3d0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a2f4192e2dc04a2bdbe005c3813def3d0">ec_fsm_change_state_check</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:a2f4192e2dc04a2bdbe005c3813def3d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change state: CHECK.  <a href="#a2f4192e2dc04a2bdbe005c3813def3d0">More...</a><br /></td></tr>
<tr class="separator:a2f4192e2dc04a2bdbe005c3813def3d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa1d6b2a804bb531bb20a527ca46bfc16"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#aa1d6b2a804bb531bb20a527ca46bfc16">ec_fsm_change_state_status</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:aa1d6b2a804bb531bb20a527ca46bfc16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change state: STATUS.  <a href="#aa1d6b2a804bb531bb20a527ca46bfc16">More...</a><br /></td></tr>
<tr class="separator:aa1d6b2a804bb531bb20a527ca46bfc16"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab1ff93adaf35610e0b9e28d609f0ce8a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#ab1ff93adaf35610e0b9e28d609f0ce8a">ec_fsm_change_state_start_code</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:ab1ff93adaf35610e0b9e28d609f0ce8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enter reading AL status code.  <a href="#ab1ff93adaf35610e0b9e28d609f0ce8a">More...</a><br /></td></tr>
<tr class="separator:ab1ff93adaf35610e0b9e28d609f0ce8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3086450d29218c679764594776e55fb8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a3086450d29218c679764594776e55fb8">ec_fsm_change_state_code</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:a3086450d29218c679764594776e55fb8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change state: CODE.  <a href="#a3086450d29218c679764594776e55fb8">More...</a><br /></td></tr>
<tr class="separator:a3086450d29218c679764594776e55fb8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a17990ee1720e4f8024fea39a6c167e59"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a17990ee1720e4f8024fea39a6c167e59">ec_fsm_change_state_ack</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:a17990ee1720e4f8024fea39a6c167e59"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change state: ACK.  <a href="#a17990ee1720e4f8024fea39a6c167e59">More...</a><br /></td></tr>
<tr class="separator:a17990ee1720e4f8024fea39a6c167e59"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a416b62cee177ddf8ec5865b93c8f0750"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a416b62cee177ddf8ec5865b93c8f0750">ec_fsm_change_state_check_ack</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:a416b62cee177ddf8ec5865b93c8f0750"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change state: CHECK ACK.  <a href="#a416b62cee177ddf8ec5865b93c8f0750">More...</a><br /></td></tr>
<tr class="separator:a416b62cee177ddf8ec5865b93c8f0750"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac6b5a2fe1d6064f2a6680d9969f9ba06"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#ac6b5a2fe1d6064f2a6680d9969f9ba06">ec_fsm_change_state_end</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:ac6b5a2fe1d6064f2a6680d9969f9ba06"><td class="mdescLeft">&#160;</td><td class="mdescRight">State: END.  <a href="#ac6b5a2fe1d6064f2a6680d9969f9ba06">More...</a><br /></td></tr>
<tr class="separator:ac6b5a2fe1d6064f2a6680d9969f9ba06"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a70051338de643faf0297a9b1f6784064"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a70051338de643faf0297a9b1f6784064">ec_fsm_change_state_error</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:a70051338de643faf0297a9b1f6784064"><td class="mdescLeft">&#160;</td><td class="mdescRight">State: ERROR.  <a href="#a70051338de643faf0297a9b1f6784064">More...</a><br /></td></tr>
<tr class="separator:a70051338de643faf0297a9b1f6784064"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2813e95dc9b8f066f1d88a379db9919a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a2813e95dc9b8f066f1d88a379db9919a">ec_fsm_change_init</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm, <a class="el" href="structec__datagram__t.html">ec_datagram_t</a> *datagram)</td></tr>
<tr class="memdesc:a2813e95dc9b8f066f1d88a379db9919a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a2813e95dc9b8f066f1d88a379db9919a">More...</a><br /></td></tr>
<tr class="separator:a2813e95dc9b8f066f1d88a379db9919a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6d947220ad1f1869e05a59d70548dd2e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a6d947220ad1f1869e05a59d70548dd2e">ec_fsm_change_clear</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:a6d947220ad1f1869e05a59d70548dd2e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor.  <a href="#a6d947220ad1f1869e05a59d70548dd2e">More...</a><br /></td></tr>
<tr class="separator:a6d947220ad1f1869e05a59d70548dd2e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6426f6ba873260eb02f47b455666666e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a6426f6ba873260eb02f47b455666666e">ec_fsm_change_start</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm, <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *slave, <a class="el" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0">ec_slave_state_t</a> state)</td></tr>
<tr class="memdesc:a6426f6ba873260eb02f47b455666666e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts the change state machine.  <a href="#a6426f6ba873260eb02f47b455666666e">More...</a><br /></td></tr>
<tr class="separator:a6426f6ba873260eb02f47b455666666e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a547d125301f531e459193593442ba6e9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a547d125301f531e459193593442ba6e9">ec_fsm_change_ack</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm, <a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *slave)</td></tr>
<tr class="memdesc:a547d125301f531e459193593442ba6e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starts the change state machine to only acknowlegde a slave's state.  <a href="#a547d125301f531e459193593442ba6e9">More...</a><br /></td></tr>
<tr class="separator:a547d125301f531e459193593442ba6e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab408609f93deb57cb9ad9d63a9703491"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:ab408609f93deb57cb9ad9d63a9703491"><td class="mdescLeft">&#160;</td><td class="mdescRight">Executes the current state of the state machine.  <a href="#ab408609f93deb57cb9ad9d63a9703491">More...</a><br /></td></tr>
<tr class="separator:ab408609f93deb57cb9ad9d63a9703491"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a07f6b7b3e079c69fcc052f7fcd4354ce"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a07f6b7b3e079c69fcc052f7fcd4354ce">ec_fsm_change_success</a> (<a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *fsm)</td></tr>
<tr class="memdesc:a07f6b7b3e079c69fcc052f7fcd4354ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns, if the state machine terminated with success.  <a href="#a07f6b7b3e079c69fcc052f7fcd4354ce">More...</a><br /></td></tr>
<tr class="separator:a07f6b7b3e079c69fcc052f7fcd4354ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
Variables</h2></td></tr>
<tr class="memitem:a5bdb82dad7820f4bb46d5713c4247a54"><td class="memItemLeft" align="right" valign="top"><a id="a5bdb82dad7820f4bb46d5713c4247a54"></a>
const <a class="el" href="structec__code__msg__t.html">ec_code_msg_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="fsm__change_8c.html#a5bdb82dad7820f4bb46d5713c4247a54">al_status_messages</a> []</td></tr>
<tr class="memdesc:a5bdb82dad7820f4bb46d5713c4247a54"><td class="mdescLeft">&#160;</td><td class="mdescRight">Application layer status messages. <br /></td></tr>
<tr class="separator:a5bdb82dad7820f4bb46d5713c4247a54"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>EtherCAT state change FSM. </p>

<p class="definition">Definition in file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>
</div><h2 class="groupheader">Function Documentation</h2>
<a id="a1ff34d96ae20d01c0ceff028a86ba0d2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1ff34d96ae20d01c0ceff028a86ba0d2">&#9670;&nbsp;</a></span>ec_fsm_change_state_start()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_state_start </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Change state: START. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00152">152</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

</div>
</div>
<a id="a2f4192e2dc04a2bdbe005c3813def3d0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2f4192e2dc04a2bdbe005c3813def3d0">&#9670;&nbsp;</a></span>ec_fsm_change_state_check()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_state_check </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Change state: CHECK. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00174">174</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

</div>
</div>
<a id="aa1d6b2a804bb531bb20a527ca46bfc16"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa1d6b2a804bb531bb20a527ca46bfc16">&#9670;&nbsp;</a></span>ec_fsm_change_state_status()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_state_status </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Change state: STATUS. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00237">237</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

</div>
</div>
<a id="ab1ff93adaf35610e0b9e28d609f0ce8a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab1ff93adaf35610e0b9e28d609f0ce8a">&#9670;&nbsp;</a></span>ec_fsm_change_state_start_code()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_state_start_code </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Enter reading AL status code. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00326">326</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="a3086450d29218c679764594776e55fb8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3086450d29218c679764594776e55fb8">&#9670;&nbsp;</a></span>ec_fsm_change_state_code()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_state_code </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Change state: CODE. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00406">406</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="a17990ee1720e4f8024fea39a6c167e59"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a17990ee1720e4f8024fea39a6c167e59">&#9670;&nbsp;</a></span>ec_fsm_change_state_ack()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_state_ack </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Change state: ACK. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00458">458</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="a416b62cee177ddf8ec5865b93c8f0750"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a416b62cee177ddf8ec5865b93c8f0750">&#9670;&nbsp;</a></span>ec_fsm_change_state_check_ack()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_state_check_ack </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Change state: CHECK ACK. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00495">495</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="ac6b5a2fe1d6064f2a6680d9969f9ba06"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac6b5a2fe1d6064f2a6680d9969f9ba06">&#9670;&nbsp;</a></span>ec_fsm_change_state_end()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_state_end </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>State: END. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00572">572</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="a70051338de643faf0297a9b1f6784064"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a70051338de643faf0297a9b1f6784064">&#9670;&nbsp;</a></span>ec_fsm_change_state_error()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_state_error </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>State: ERROR. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00561">561</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="a2813e95dc9b8f066f1d88a379db9919a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2813e95dc9b8f066f1d88a379db9919a">&#9670;&nbsp;</a></span>ec_fsm_change_init()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_init </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structec__datagram__t.html">ec_datagram_t</a> *&#160;</td>
          <td class="paramname"><em>datagram</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
    <tr><td class="paramname">datagram</td><td>datagram </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00065">65</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="a6d947220ad1f1869e05a59d70548dd2e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6d947220ad1f1869e05a59d70548dd2e">&#9670;&nbsp;</a></span>ec_fsm_change_clear()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_clear </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Destructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00080">80</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="a6426f6ba873260eb02f47b455666666e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6426f6ba873260eb02f47b455666666e">&#9670;&nbsp;</a></span>ec_fsm_change_start()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_start </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0">ec_slave_state_t</a>&#160;</td>
          <td class="paramname"><em>state</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Starts the change state machine. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
    <tr><td class="paramname">state</td><td>requested state </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00090">90</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="a547d125301f531e459193593442ba6e9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a547d125301f531e459193593442ba6e9">&#9670;&nbsp;</a></span>ec_fsm_change_ack()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ec_fsm_change_ack </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="globals_8h.html#a8d9ffff7dbe1babaa4786a63f2860d57">ec_slave_t</a> *&#160;</td>
          <td class="paramname"><em>slave</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Starts the change state machine to only acknowlegde a slave's state. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
    <tr><td class="paramname">slave</td><td>EtherCAT slave </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00107">107</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="ab408609f93deb57cb9ad9d63a9703491"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab408609f93deb57cb9ad9d63a9703491">&#9670;&nbsp;</a></span>ec_fsm_change_exec()</h2>

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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int ec_fsm_change_exec </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Executes the current state of the state machine. </p>
<dl class="section return"><dt>Returns</dt><dd>false, if the state machine has terminated </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00124">124</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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<a id="a07f6b7b3e079c69fcc052f7fcd4354ce"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a07f6b7b3e079c69fcc052f7fcd4354ce">&#9670;&nbsp;</a></span>ec_fsm_change_success()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int ec_fsm_change_success </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="fsm__change_8h.html#a15cddef62f7f6fa51e07fa06242b7659">ec_fsm_change_t</a> *&#160;</td>
          <td class="paramname"><em>fsm</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Returns, if the state machine terminated with success. </p>
<dl class="section return"><dt>Returns</dt><dd>non-zero if successful. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">fsm</td><td>Finite state machine </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="fsm__change_8c_source.html#l00139">139</a> of file <a class="el" href="fsm__change_8c_source.html">fsm_change.c</a>.</p>

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